MX2023009877A - Robots soldadores autónomos. - Google Patents

Robots soldadores autónomos.

Info

Publication number
MX2023009877A
MX2023009877A MX2023009877A MX2023009877A MX2023009877A MX 2023009877 A MX2023009877 A MX 2023009877A MX 2023009877 A MX2023009877 A MX 2023009877A MX 2023009877 A MX2023009877 A MX 2023009877A MX 2023009877 A MX2023009877 A MX 2023009877A
Authority
MX
Mexico
Prior art keywords
candidate seam
computer
seam
candidate
welding robots
Prior art date
Application number
MX2023009877A
Other languages
English (en)
Inventor
Alexander James Lonsberry
Andrew Gordon Lonsberry
Nima Ajam Gard
Colin Bunker
Quiroz Carlos Fabian Benitez
Madhavun Candadai Vasu
Original Assignee
Path Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Path Robotics Inc filed Critical Path Robotics Inc
Publication of MX2023009877A publication Critical patent/MX2023009877A/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0258—Electric supply or control circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30152—Solder
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

En varios ejemplos, un método implementado por computadora para generar instrucciones para un robot soldador. El método implementado por computadora comprende identificar una posición prevista de una costura potencial en una pieza que se soldará con base en un modelo de diseño asistido por computadora (CAD) de la pieza, escanear un espacio de trabajo que contiene la pieza para producir una representación de la pieza, identificar la costura potencial en la pieza con base en la representación de la pieza y la posición prevista de la costura potencial, determinar una posición real de la costura potencial y generar instrucciones de soldadura para el robot soldador con base, al menos en parte, en la posición real de la costura potencial.
MX2023009877A 2021-02-24 2022-02-24 Robots soldadores autónomos. MX2023009877A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202163153109P 2021-02-24 2021-02-24
US202163282827P 2021-11-24 2021-11-24
PCT/US2022/017741 WO2022182894A1 (en) 2021-02-24 2022-02-24 Autonomous welding robots

Publications (1)

Publication Number Publication Date
MX2023009877A true MX2023009877A (es) 2024-01-08

Family

ID=82901371

Family Applications (2)

Application Number Title Priority Date Filing Date
MX2023009877A MX2023009877A (es) 2021-02-24 2022-02-24 Robots soldadores autónomos.
MX2023009878A MX2023009878A (es) 2021-02-24 2022-02-24 Robots soldadores autonomos.

Family Applications After (1)

Application Number Title Priority Date Filing Date
MX2023009878A MX2023009878A (es) 2021-02-24 2022-02-24 Robots soldadores autonomos.

Country Status (7)

Country Link
US (6) US11648683B2 (es)
EP (2) EP4297937A1 (es)
JP (2) JP2024508563A (es)
KR (2) KR20230160277A (es)
CA (2) CA3211499A1 (es)
MX (2) MX2023009877A (es)
WO (2) WO2022182896A2 (es)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022016152A1 (en) * 2020-07-17 2022-01-20 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
WO2022182896A2 (en) 2021-02-24 2022-09-01 Path Robotics Inc. Autonomous welding robots
US11651554B2 (en) * 2021-07-30 2023-05-16 The Boeing Company Systems and methods for synthetic image generation
US11900534B2 (en) * 2021-07-30 2024-02-13 The Boeing Company Systems and methods for synthetic image generation
CN116604243B (zh) * 2023-06-21 2024-02-27 中建国际城市建设有限公司 一种智能建造用的焊接机械臂及其焊接方法

Family Cites Families (184)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1724301A (en) 1928-01-16 1929-08-13 Moriarty Alma Peck Silhouette corselet ensemble
US4148061A (en) 1972-05-18 1979-04-03 Lemelson Jerome H Scanning apparatus and method
US3532807A (en) 1967-10-05 1970-10-06 Webb James E Automatic closed circuit television arc guidance control
US4021840A (en) 1975-01-24 1977-05-03 General Dynamics Corporation Seam tracking welding system
US4011437A (en) 1975-09-12 1977-03-08 Cincinnati Milacron, Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
US4255643A (en) 1979-03-28 1981-03-10 C-R-O, Inc. Programmed welding machine with continuously monitored override control
US4234777A (en) 1979-08-15 1980-11-18 C-R-O, Inc. Programmed welding machine with weld head speed override
US4380696A (en) 1980-11-12 1983-04-19 Unimation, Inc. Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing
JPS57113111A (en) 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
GB2092497B (en) 1981-02-06 1985-01-16 Honda Motor Co Ltd Welding torch assembly
IN155236B (es) 1981-03-20 1985-01-12 Gould Inc
JPH065486B2 (ja) 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
US6163946A (en) 1981-05-11 2000-12-26 Great Lakes Intellectual Property Vision target based assembly
US5608847A (en) 1981-05-11 1997-03-04 Sensor Adaptive Machines, Inc. Vision target based assembly
US6317953B1 (en) 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly
US5602967A (en) 1981-05-11 1997-02-11 Sensor Adaptive Machines, Inc. Vision target based assembly
US4412121A (en) 1981-08-28 1983-10-25 S R I International Implement positioning apparatus and process
US4492847A (en) 1981-09-30 1985-01-08 Unimation, Inc. Manipulator welding apparatus with sensing arrangements for weld slam tracking
JPS5858607A (ja) 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd プリセツト式ロボツトにおけるポイント測定方式
JPS5890113A (ja) 1981-11-25 1983-05-28 Yamazaki Mazak Corp マシニングセンタにおける座標系設定制御方法
US5506682A (en) 1982-02-16 1996-04-09 Sensor Adaptive Machines Inc. Robot vision using targets
US4613942A (en) 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
JPS58177295A (ja) 1982-04-07 1983-10-17 株式会社日立製作所 ロボット制御装置
SE452719B (sv) 1982-06-29 1987-12-14 Asea Ab Industrirobot
JPS5988279A (ja) 1982-10-15 1984-05-22 新明和工業株式会社 多関節ロボットの座標変換方法およびそのための装置
ZA838150B (en) 1982-11-01 1984-06-27 Nat Res Dev Automatic welding
US4593173A (en) 1982-11-08 1986-06-03 National Research Development Corp. Electronic apparatus for automatic control of the placing of material at a junction between surfaces
US4590577A (en) 1982-12-01 1986-05-20 Yaskawa Electric Mfg. Co., Ltd. Welding robot controlling method
IL67599A (en) 1982-12-31 1986-09-30 Laser Ind Ltd Control apparatus particularly useful for controlling a laser
US4497996A (en) 1983-01-18 1985-02-05 Automatix Incorporated Arc welding system with vision
US4567348A (en) 1983-01-25 1986-01-28 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Automated weld torch guidance control system
FR2553698B1 (fr) 1983-10-20 1987-05-15 Commissariat Energie Atomique Porte-outil, pour robot, et son procede de mise en oeuvre
IT1174831B (it) 1983-11-30 1987-07-01 Armco Spa Macchina elettrosaldatrice automatica
JPS60177888A (ja) 1984-02-22 1985-09-11 フアナツク株式会社 視覚センサ処理装置とロボツト制御装置との結合方式
US4578554A (en) 1984-04-30 1986-03-25 Teledyne, Inc. Laser welding apparatus
DE3417868C2 (de) 1984-05-14 1986-08-07 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum Steuern von Roboterbewegungen
JPS6132113A (ja) 1984-07-23 1986-02-14 Seiko Instr & Electronics Ltd ロボツト制御方式
JPS6150795A (ja) 1984-08-17 1986-03-13 セイコーインスツルメンツ株式会社 産業用ロボツト
US5374830A (en) 1984-10-12 1994-12-20 Sensor Adaptive Machines, Inc. Target based determination of robot and sensor alignment
US5267143A (en) 1984-10-12 1993-11-30 Sensor Adaptive Machines, Incorporated Vision assisted fixture construction
US4555613A (en) 1984-10-17 1985-11-26 Unimation, Inc. Image sensing and welding arrangement for manipulator welding apparatus
JPS61183716A (ja) 1985-02-08 1986-08-16 Hitachi Ltd 誘導装置
US4804860A (en) 1985-05-02 1989-02-14 Robotic Vision Systems, Inc. Robot cell safety system
JPS61296409A (ja) 1985-06-25 1986-12-27 Fanuc Ltd ロボツト制御方式
US4724301A (en) 1985-10-21 1988-02-09 Hitachi, Ltd. Apparatus utilizing light stripe image for detecting portion to be welded prior to welding thereof
US4675502A (en) 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
US4745857A (en) 1986-02-28 1988-05-24 Markem Corporation Programmable pad printing apparatus and method
JPS62232006A (ja) 1986-04-02 1987-10-12 Yokogawa Electric Corp ロボツト・システム
US4725965A (en) 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
US5219264A (en) 1986-09-19 1993-06-15 Texas Instruments Incorporated Mobile robot on-board vision system
US4812614A (en) 1987-02-26 1989-03-14 Industrial Technology Research Institute Machine vision seam tracking method and apparatus for welding robots
JP2713899B2 (ja) 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
US4833383A (en) 1987-08-13 1989-05-23 Iowa State University Research Foundation, Inc. Means and method of camera space manipulation
US4907169A (en) 1987-09-30 1990-03-06 International Technical Associates Adaptive tracking vision and guidance system
US4845992A (en) 1987-12-22 1989-07-11 Dean Michael J Method and apparatus for bending rotor vanes
EP0619941A3 (en) 1988-01-08 1994-12-14 Prolion Bv Element for positioning an animal.
JP2708458B2 (ja) 1988-04-01 1998-02-04 株式会社豊田中央研究所 倣い制御ロボット
US4969108A (en) 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US4979949A (en) 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
DE3823836A1 (de) 1988-07-14 1990-01-18 Fraunhofer Ges Forschung Verfahren zum vermessen von der bestueckung von leiterplatten dienenden bauelementen und einrichtung zur durchfuehrung des verfahrens
DE3830892C1 (es) 1988-09-10 1989-09-28 Fried. Krupp Gmbh, 4300 Essen, De
US4945493A (en) 1988-09-26 1990-07-31 Ford Motor Company Method and system for correcting a robot path
JPH02256430A (ja) 1989-03-29 1990-10-17 Mitsubishi Electric Corp 自動組立装置および方法
US5053976A (en) 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot
US5001324A (en) 1989-09-14 1991-03-19 General Electric Company Precision joint tracking laser welding system
JP2690603B2 (ja) 1990-05-30 1997-12-10 ファナック株式会社 視覚センサのキャリブレーション方法
US5096353A (en) 1990-07-27 1992-03-17 Motorola, Inc. Vision system for a robotic station
US5083073A (en) 1990-09-20 1992-01-21 Mazada Motor Manufacturing U.S.A. Corp. Method and apparatus for calibrating a vision guided robot
JP2764485B2 (ja) 1991-08-27 1998-06-11 ファナック株式会社 リアルタイムセンサの診断方法
US5245409A (en) 1991-11-27 1993-09-14 Arvin Industries, Inc. Tube seam weld inspection device
US5300869A (en) 1992-07-30 1994-04-05 Iowa State University Research Foundation, Inc. Nonholonomic camera space manipulation
KR0160992B1 (ko) 1992-08-13 1998-12-15 윤종룡 로보트의 위치결정제어방법
JP3053501B2 (ja) 1992-10-20 2000-06-19 ファナック株式会社 ロボットの位置教示方法
US5288991A (en) 1992-12-04 1994-02-22 International Business Machines Corporation Optical system for rapid inspection of via location
GB9300403D0 (en) 1993-01-11 1993-03-03 Huissoon Jan P Dynamic seam tracking with redundant axes control
JPH06328385A (ja) 1993-05-20 1994-11-29 Fanuc Ltd 産業用ロボットの視覚センサの姿勢制御方法
JPH07266272A (ja) 1994-03-29 1995-10-17 Nippon Telegr & Teleph Corp <Ntt> マニピュレータ用追従方法及び装置
JP3040670B2 (ja) 1994-08-22 2000-05-15 ファナック株式会社 レーザセンサを用いた溶接線追従方法及びロボット制御装置
US5798627A (en) * 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
US5572102A (en) 1995-02-28 1996-11-05 Budd Canada Inc. Method and apparatus for vision control of welding robots
US5612785A (en) 1996-01-03 1997-03-18 Servo Robot Inc. Twin sensor laser probe
US5961858A (en) 1996-06-06 1999-10-05 Engauge Inc. Laser welding apparatus employing a tilting mechanism
US5925268A (en) 1996-06-06 1999-07-20 Engauge Inc. Laser welding apparatus employing a tilting mechanism and seam follower
FR2752180B1 (fr) 1996-08-08 1999-04-16 Axal Procede et dispositif de soudage a pilotage du faisceau de soudage
KR100200204B1 (ko) 1996-11-18 1999-06-15 윤종용 아크용접공정에서용접선자동추적을위한비젼센서및비젼처리기법
KR100222940B1 (ko) 1997-08-30 1999-10-01 윤종용 센서를 이용한 캘리브레이션 방법 및 장치
US5959425A (en) 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
JP2000135689A (ja) 1998-10-30 2000-05-16 Fanuc Ltd ロボット用画像処理装置
JP4037588B2 (ja) 1999-03-16 2008-01-23 株式会社東芝 原子炉制御棒の製造方法及び製造装置
US6304050B1 (en) 1999-07-19 2001-10-16 Steven B. Skaar Means and method of robot control relative to an arbitrary surface using camera-space manipulation
SE0001312D0 (sv) 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6430474B1 (en) 2001-04-03 2002-08-06 Xerox Corporation Tooling adapter for allowing selected manipulation of a workpiece
JP4257570B2 (ja) 2002-07-17 2009-04-22 株式会社安川電機 搬送用ロボットのティーチング装置および搬送用ロボットのティーチング方法
US6909066B2 (en) 2003-07-30 2005-06-21 Edison Welding Institute Adaptive and synergic fill welding method and apparatus
DE10345743A1 (de) 2003-10-01 2005-05-04 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bestimmen von Position und Orientierung einer Bildempfangseinrichtung
DE10361018C9 (de) 2003-12-23 2021-03-04 QUISS Qualitäts-Inspektionssysteme und Service GmbH Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür
WO2005124486A2 (en) * 2004-06-15 2005-12-29 Abb Ab Method and system for off-line programming of multiple interacting robots
JP4917252B2 (ja) 2004-07-23 2012-04-18 ファナック株式会社 アーク溶接用装置
US20060047363A1 (en) 2004-08-31 2006-03-02 Farrelly Philip J Machine vision system for lab workcells
US20060049153A1 (en) 2004-09-08 2006-03-09 Cahoon Christopher L Dual feed laser welding system
GB0513899D0 (en) 2005-07-06 2005-08-10 Airbus Uk Ltd Program-controlled process
JP2009514551A (ja) 2005-11-09 2009-04-09 プリメーラ バイオシステムズ インコーポレーティッド 病原体の多重定量検出方法
WO2007072837A1 (en) 2005-12-20 2007-06-28 Semiconductor Energy Laboratory Co., Ltd. Laser irradiation apparatus and method for manufacturing semiconductor device
US7974737B2 (en) 2006-10-31 2011-07-05 GM Global Technology Operations LLC Apparatus and method of automated manufacturing
US9937577B2 (en) 2006-12-20 2018-04-10 Lincoln Global, Inc. System for a welding sequencer
DE102007008598A1 (de) 2007-02-19 2008-08-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Automatische Programmierung von Robotern zum Abschweißen gehefteter Profile auf Mikropaneelen mit Hilfe digitaler Bilderfassung
US7946439B1 (en) 2007-04-09 2011-05-24 Tech Serv LLC Protective steel membrane system and method of erection for secondary containment for an above ground storage tank
DE102007033309A1 (de) 2007-07-18 2009-01-22 Abb Ag Verfahren zum Bearbeiten einer Kontur an wenigstens einem Werkstück mittels eines Roboters
JP4302160B2 (ja) 2007-09-12 2009-07-22 ファナック株式会社 ロボットによるパレタイジング作業のためのロボットプログラミング装置
US20120096702A1 (en) * 2007-09-14 2012-04-26 Alan Kingsley Automated construction system
EP2062675B1 (de) 2007-11-20 2010-01-20 Trumpf Werkzeugmaschinen GmbH + Co. KG Verfahren zum Bestimmen einer Kenngröße für die Genauigkeit einer Nahtlageregelung
ATE452005T1 (de) 2008-02-13 2010-01-15 Abb As System und verfahren zur visualisierung von verfahrensfehlern
DE102008032509A1 (de) 2008-07-10 2010-01-14 Epcos Ag Heizungsvorrichtung und Verfahren zur Herstellung der Heizungsvorrichtung
US20100114338A1 (en) 2008-10-31 2010-05-06 Gm Global Technology Operations, Inc. Multi-goal path planning of welding robots with automatic sequencing
US9221117B2 (en) 2009-07-08 2015-12-29 Lincoln Global, Inc. System for characterizing manual welding operations
US9773429B2 (en) 2009-07-08 2017-09-26 Lincoln Global, Inc. System and method for manual welder training
DE102009045400B3 (de) 2009-10-06 2011-06-09 Bayerische Motoren Werke Aktiengesellschaft Fügevorrichtung für ein stoffschlüssiges Fügen mittels eines Zusatzwerkstoffes
US8941726B2 (en) * 2009-12-10 2015-01-27 Mitsubishi Electric Research Laboratories, Inc. Method and system for segmenting moving objects from images using foreground extraction
US9993891B2 (en) 2010-07-14 2018-06-12 Illinois Tool Works Inc. Welding parameter control via welder motion or position monitoring
US20130119040A1 (en) 2011-11-11 2013-05-16 Lincoln Global, Inc. System and method for adaptive fill welding using image capture
CA2854829C (en) 2011-11-15 2019-07-02 Manickam UMASUTHAN Method of real-time tracking of moving/flexible surfaces
WO2013147919A1 (en) 2012-03-29 2013-10-03 Dcg Systems, Inc. Method for evaluating the centerline of an arbitrarily shaped object
WO2014043697A2 (en) 2012-09-17 2014-03-20 Omniguide, Inc. Devices and methods for laser surgery
US20140100694A1 (en) 2012-10-05 2014-04-10 Beckman Coulter, Inc. System and method for camera-based auto-alignment
WO2014099104A1 (en) 2012-12-21 2014-06-26 Beckman Coulter, Inc. System and method for laser-based auto-alignment
US9821415B2 (en) 2014-03-28 2017-11-21 Crc-Evans Pipeline International, Inc. Internal pipeline cooler
US10040141B2 (en) 2013-05-23 2018-08-07 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
WO2014201163A1 (en) 2013-06-11 2014-12-18 Somatis Sensor Solutions LLC Systems and methods for sensing objects
US20150072323A1 (en) 2013-09-11 2015-03-12 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
US20150122781A1 (en) * 2013-11-04 2015-05-07 Illinois Tool Works Inc. System and method for selecting weld parameters
US10083627B2 (en) 2013-11-05 2018-09-25 Lincoln Global, Inc. Virtual reality and real welding training system and method
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
JP6286276B2 (ja) 2014-05-09 2018-02-28 株式会社アマダホールディングス 溶接機及びその制御方法
WO2015185972A1 (en) 2014-06-02 2015-12-10 Lincoln Global, Inc. System and method for manual welder training
US9724787B2 (en) 2014-08-07 2017-08-08 Illinois Tool Works Inc. System and method of monitoring a welding environment
US9740193B2 (en) 2014-08-08 2017-08-22 Roboticvisiontech, Inc. Sensor-based safety features for robotic equipment
US10201868B2 (en) 2014-09-30 2019-02-12 Illinois Tool Works Inc. Systems and methods for gesture control of a welding system
JP5980867B2 (ja) 2014-10-07 2016-08-31 ファナック株式会社 ロボットをオフラインで教示するロボット教示装置
US10402959B2 (en) * 2014-11-05 2019-09-03 Illinois Tool Works Inc. System and method of active torch marker control
US10373304B2 (en) 2014-11-05 2019-08-06 Illinois Tool Works Inc. System and method of arranging welding device markers
US9975196B2 (en) 2015-01-05 2018-05-22 University Of Kentucky Research Foundation Measurement of three-dimensional welding torch orientation for manual arc welding process
US9808993B2 (en) 2015-03-03 2017-11-07 Ricoh Co., Ltd. Method for solid freeform fabrication
US9643314B2 (en) 2015-03-04 2017-05-09 The Johns Hopkins University Robot control, training and collaboration in an immersive virtual reality environment
EP3268949B1 (en) 2015-03-09 2021-05-26 Illinois Tool Works Inc. Methods and apparatus to provide visual information associated with welding operations
US9666160B2 (en) 2015-03-26 2017-05-30 Illinois Tool Works Inc. Control of mediated reality welding system based on lighting conditions
US9977242B2 (en) 2015-03-26 2018-05-22 Illinois Tool Works Inc. Control of mediated reality welding system based on lighting conditions
JP2016219604A (ja) 2015-05-20 2016-12-22 シチズン電子株式会社 発光装置
WO2017012114A1 (en) 2015-07-23 2017-01-26 Abb Schweiz Ag Method and apparatus of identifying welding seams of welding object
US10290118B2 (en) 2015-08-06 2019-05-14 Cognex Corporation System and method for tying together machine vision coordinate spaces in a guided assembly environment
US10197987B2 (en) 2015-08-26 2019-02-05 The Boeing Company Use of manufacturing compounds to create fiducial marks
FI126900B (en) 2015-12-29 2017-07-31 Optiweld Oy Method and system for analyzing the properties of a weld
US10525596B2 (en) * 2016-02-11 2020-01-07 Darryl Hammock Teleoperated robot for flood-welding operations
US10788836B2 (en) 2016-02-29 2020-09-29 AI Incorporated Obstacle recognition method for autonomous robots
US10754337B2 (en) 2016-06-20 2020-08-25 Hypertherm, Inc. Systems and methods for planning paths to guide robots
EP3269487A1 (de) * 2016-07-12 2018-01-17 Fronius International GmbH Verfahren zur festlegung von schweissparametern für einen schweissprozess
GB201614989D0 (en) 2016-09-05 2016-10-19 Rolls Royce Plc Welding process
US10545480B2 (en) 2016-11-07 2020-01-28 Lincoln Global, Inc. System and method for manufacturing and control thereof
JP6682466B2 (ja) 2017-03-17 2020-04-15 株式会社東芝 光学検査装置
US10705024B2 (en) 2017-03-17 2020-07-07 Lincoln Global, Inc. System and method for positive metal identification and intelligent consumable identification
JP6914067B2 (ja) 2017-03-21 2021-08-04 株式会社神戸製鋼所 動作プログラム補正方法および溶接ロボットシステム
US10955814B2 (en) 2017-04-24 2021-03-23 Autodesk, Inc. Closed-loop robotic deposition of material
WO2018208791A1 (en) 2017-05-08 2018-11-15 Aquifi, Inc. Systems and methods for inspection and defect detection using 3-d scanning
US10853539B2 (en) 2017-05-26 2020-12-01 Autodesk, Inc. Robotic assembly of a mesh surface
US11179793B2 (en) 2017-09-12 2021-11-23 Autodesk, Inc. Automated edge welding based on edge recognition using separate positioning and welding robots
US11004202B2 (en) 2017-10-09 2021-05-11 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for semantic segmentation of 3D point clouds
CA3088280A1 (en) 2018-02-08 2019-08-15 Novarc Technologies Inc. Systems and methods for seam tracking in pipe welding
US10551179B2 (en) 2018-04-30 2020-02-04 Path Robotics, Inc. Reflection refuting laser scanner
KR102087609B1 (ko) 2018-07-10 2020-03-11 주식회사 성우하이텍 비전유닛
CN109226967B (zh) 2018-07-25 2021-03-09 同高先进制造科技（太仓）有限公司 一种用于激光-电弧复合焊的主动激光视觉稳健焊缝跟踪系统
US11440119B2 (en) 2018-10-12 2022-09-13 Teradyne, Inc. System and method for weld path generation
US11883909B2 (en) 2018-10-31 2024-01-30 Illinois Tool Works Inc. Systems and methods to design part weld processes
CN109540142B (zh) 2018-11-27 2021-04-06 达闼科技（北京）有限公司 一种机器人定位导航的方法、装置、计算设备
US11358282B2 (en) 2019-04-08 2022-06-14 Teradyne, Inc. System and method for constraint management of one or more robots
CN110064818B (zh) 2019-05-21 2021-09-10 武汉东焊汽车装备有限公司 一种汽车排气管双层焊接设备
CN110524581B (zh) 2019-09-16 2023-06-02 西安中科光电精密工程有限公司 一种柔性焊接机器人系统及其焊接方法
EP3812105B1 (en) 2019-10-24 2022-03-02 Deutsche Telekom AG Artificial intelligence architecture for industrial welding
CN111189393B (zh) 2020-01-21 2021-10-01 北京卫星制造厂有限公司 一种三维薄壁结构焊缝的高精度全局视觉测量方法
US20210318673A1 (en) 2020-04-08 2021-10-14 BWXT Advanced Technologies LLC In-Situ Inspection Method Based on Digital Data Model of Weld
WO2022016152A1 (en) 2020-07-17 2022-01-20 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
MX2022000588A (es) 2021-01-15 2022-11-07 Illinois Tool Works Sistemas y metodos para seleccionar parámetros de soldadura con base en propiedades termicas, electricas y/o quimicas.
US20220250183A1 (en) 2021-02-10 2022-08-11 Illinois Tool Works Inc. Methods and apparatus to train a robotic welding system to perform welding
US20220258267A1 (en) 2021-02-15 2022-08-18 Illinois Tool Works Inc. Helmet based weld tracking systems
WO2022182896A2 (en) 2021-02-24 2022-09-01 Path Robotics Inc. Autonomous welding robots
CA3162295A1 (en) 2021-06-18 2022-12-18 Techjig Inc. Robotic cell and method of operating same

Also Published As

Publication number Publication date
CA3211499A1 (en) 2022-09-01
US20230047632A1 (en) 2023-02-16
JP2024508563A (ja) 2024-02-27
US20240033935A1 (en) 2024-02-01
US20220410402A1 (en) 2022-12-29
MX2023009878A (es) 2024-01-08
US11801606B2 (en) 2023-10-31
WO2022182894A1 (en) 2022-09-01
US20220266453A1 (en) 2022-08-25
KR20230160276A (ko) 2023-11-23
US11648683B2 (en) 2023-05-16
CA3211502A1 (en) 2022-09-01
JP2024508564A (ja) 2024-02-27
US20220305593A1 (en) 2022-09-29
EP4297937A1 (en) 2024-01-03
US11759958B2 (en) 2023-09-19
US11548162B2 (en) 2023-01-10
EP4297923A2 (en) 2024-01-03
KR20230160277A (ko) 2023-11-23
WO2022182896A2 (en) 2022-09-01
US20240075629A1 (en) 2024-03-07
WO2022182896A3 (en) 2022-11-10

Similar Documents

Publication Publication Date Title
MX2023009877A (es) Robots soldadores autónomos.
CN104858537B (zh) 控制机器人切割工件坡口的方法及装置
JP6626065B2 (ja) 教示点又は教示線の位置ずれを警告又は修正するロボット教示装置
Liu et al. Motion navigation for arc welding robots based on feature mapping in a simulation environment
CN110553600B (zh) 一种用于工件检测的结构光传感器仿真激光线的生成方法
Efimov et al. Improving the efficiency of automated precision robotics-enabled positioning and welding
Fang et al. Orientation planning of robot end-effector using augmented reality
JP2014206910A (ja) 数値制御装置
CN104526117A (zh) 移动式弧焊机器人及其控制系统
JP3327854B2 (ja) 溶接ロボットの教示方法および教示装置
JP2012091304A (ja) ティーチングデータ作成方法およびティーチングデータ作成装置
Xu et al. Advances in multi-robotic welding techniques: A review
Ogbemhe et al. Application of robotics in rail car manufacturing learning factory: A case of welding complex joints
Urizar et al. Assembly Mode Changing in the Cuspidal Analytic 3-R $\underline {\hbox {P}} $ R
Deepak et al. Weld seam tracking and simulation of 3-axis robotic arm for performing welding operation in CAD environment
Steele et al. Development of closed‐loop control of robotic welding processes
CN116921950A (zh) 一种基于虚拟焊缝定义的机器人自动焊接系统
Mohammed et al. Constraint Identification from STEP AP242 files for automated robotic welding
Yuanfei et al. The open architecture CNC system based on 6-axis flame pipe cutting machine
Larkin et al. Offline programming for short batch robotic welding
KR101483950B1 (ko) 용접 훈련 시뮬레이터의 평가모듈
Gao et al. Study on arc welding robot weld seam touch sensing location method for structural parts of hull
JP4794937B2 (ja) アーク溶接用プログラミング装置
JP3621867B2 (ja) 溶接システム及び溶接方法
Bickendorf New applications of cutting and welding robots with automatic offline-programming